Method and picking device for storing a plurality of identical piece goods

ABSTRACT

Methods and picking devices for storing a plurality of identical piece goods in the picking device in which the number of identical piece goods is automatically detected are provided. Multiple piece goods are placed in a support area of a storage device and a determination that a last piece good has been placed is made. Upon detection, the piece goods are moved into a removal area of the storage device and a gripping apparatus of an operating unit moves into the removal area, grasps the piece goods, and moves them from the removal area onto a support table of the operating unit. The number of piece goods situated in the support area is determined based on piece goods data and size data of the piece goods that are detected with a sensor system, after it has been detected that a last piece good has been placed in the support area.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.14/847,154, filed Sep. 8, 2015, entitled “METHOD AND PICKING DEVICE FORSTORING A PLURALITY OF IDENTICAL PIECE GOODS,” which issued as U.S. Pat.No. 9,617,074 on Apr. 11,2017, the disclosure of which is herebyincorporated by reference in its entirety for all purposes.

BACKGROUND

The disclosed embodiments relate to a method for storing a plurality ofidentical piece goods, in particular pharmaceutical packages, in apicking device, and a picking device which is suitable for carrying outthe method.

In many medical treatment settings, it is desirable to provide pickingdevice and/or a method for efficiently storing piece goods, particularlymedication packages. For example, a method by which a plurality ofidentical piece goods may be stored in a time-saving manner and with areduced frequency of errors, and a picking device with which such amethod may be carried out.

SUMMARY

One or more disclosed embodiments provide a method for storing piecegoods in a picking device. The method includes moving a plurality ofpiece goods along a storage direction from a support area of a storagedevice into a removal area of the storage device. The method alsoincludes moving a gripping apparatus of an operating unit into theremoval area. The method further includes grasping the piece goods withthe gripping apparatus and moving the piece goods from the removal areaonto a support table over an end-face edge of the support table. Themethod also includes determining the number of piece goods moved ontothe support table based on piece goods data and size data of theplurality of piece goods that are detected with at least one sensorsystem, and further based on gripping apparatus data.

One or more disclosed embodiments provide a picking device for piecegoods, including at least one rack row having at least one rack with aplurality of shelves disposed vertically one above the other and atleast one storage device for receiving piece goods to be stored. Thepicking device also includes a control unit and an operator unit coupledto the control unit. The operator unit includes a support tableconfigured to receive one or more piece goods, the support table havingan end-face edge, and at least one gripping apparatus configured tograsp piece goods in a removal area of the at least one storage deviceand move the grasped piece goods from the storage device, over theend-face edge, onto the support table. The picking device furtherincludes at least one sensor system coupled to the control unit, thesensor system configured to detect piece goods data and transmit thedetected piece goods data to the control unit. The control unit isconfigured to determine the number of piece goods moved onto the supporttable based on size data of the piece goods to be stored, a movementspeed of the gripping apparatus or the particular instantaneous positionof a motor of the gripping apparatus, and the piece goods data or acorresponding signal.

One or more disclosed embodiments provide a picking device for piecegoods, including a rack row having a plurality of shelves, a storagedevice having a support area for receiving piece goods to be stored, acontrol unit, and an operator unit. The operator unit includes a supporttable having an end-face edge and a gripping apparatus. The pickingdevice also includes a release device and at least one sensor system.The picking device is configured to move a plurality of piece goodsalong a storage direction from the support area of the storage deviceinto a removal area of the storage device, move a gripping apparatus ofthe operator unit into the removal area, grasp the piece goods with thegripping apparatus, move the piece goods from the removal area over theend-face edge and onto the support table, and determine the number ofpiece goods moved onto the support table based on piece goods data andsize data of the plurality of piece goods that are detected with atleast one sensor system, and further based on gripping apparatus data.

BRIEF DESCRIPTION OF THE DRAWINGS

The devices according to the present disclosure and the methodsaccording to the present disclosure are described in greater detailbelow, with reference to the appended drawings, wherein:

FIG. 1 is a perspective view of an embodiment of a picking device;

FIG. 2 is a perspective view of a portion of the picking device of FIG.1;

FIG. 3 is a top view of the picking device of FIG. 1;

FIG. 4 is a top view of a portion of the picking device of FIG. 3;

FIGS. 5a to 5e are top views of an embodiment of a picking device duringvarious stages of a storage process;

FIG. 6 is a side view of an embodiment of a sensor system; and

FIGS. 7a and 7b are schematic diagrams of the signals of a sensor duringmovement of piece goods over the sensor.

DETAILED DESCRIPTION

The detailed description set forth below describes variousconfigurations of the subject technology and is not intended torepresent the only configurations in which the subject technology may bepracticed. The detailed description includes specific details for thepurpose of providing a thorough understanding of the subject technology.Accordingly, dimensions are provided in regard to certain aspects asnon-limiting examples. However, it will be apparent to those skilled inthe art that the subject technology may be practiced without thesespecific details. In some instances, well-known structures andcomponents are shown in block diagram form in order to avoid obscuringthe concepts of the subject technology.

It is to be understood that the present disclosure includes examples ofthe subject technology and does not limit the scope of the appendedclaims. Various aspects of the subject technology will now be disclosedaccording to particular but non-limiting examples. Various embodimentsdescribed in the present disclosure may be carried out in different waysand variations, and in accordance with a desired application orimplementation.

Automated picking devices are frequently used in pharmacies to allowspace-saving storage of pharmaceutical packages. The pharmaceuticalpackages may be stored “chaotically” in the known picking devices thatare suitable for pharmacies; i.e., the pharmaceutical packages are notstored at predetermined storage locations in the device, but, rather, atthose storage locations in which just enough storage space is present.Excessive empty volume may thus be avoided, so that the number of storedpharmaceutical packages per square meter of floor space is significantlyincreased. Chaotic storage is routinely used for pharmaceuticals orpharmaceutical packages having a fairly low dispensing rate (e.g.,so-called “slow-moving products”).

For pharmaceuticals or pharmaceutical packages having a high dispensingrate, unmixed storage in chute systems is routinely used, in which aplurality of identical pharmaceutical packages is stored in typicallyinclined storage chutes having a release device situated at the end. Ifa pharmaceutical situated in a storage chute is required, it isnecessary only to activate the release device in order to dispense apharmaceutical package. If a pharmaceutical is required which ischaotically stored, it must be grasped at its storage location, using anoperator unit, and retrieved. Retrieval of a chaotically storedpharmaceutical package takes more time, so that in particular forpicking devices having an increased general retrieval frequency, acombination of chaotic and unmixed storage is customary.

Regardless of whether only chaotic or unmixed storage or a combinationof storage types is used, it is customary to deposit multiplepharmaceutical packages of the same pharmaceutical in the pickingdevice. In known methods, for this purpose the pharmaceutical packagesare either placed individually on a storage device and successivelymoved into the picking device, or a plurality of identicalpharmaceutical packages are deposited on a resting surface of a storagedevice. The number of deposited pharmaceutical packages is then manuallyreported to a control unit of the picking device, thus initiating thestart of storage. The known methods are time-consuming (e.g., successivestorage) or prone to error (e.g., provision of an incorrect number ofdeposited pharmaceutical packages).

A plurality of identical piece goods may be stored in a picking device.The picking device may include at least one rack row, at least onestorage device, a control unit, and an operator unit coupled to thecontrol unit. Multiple piece goods may be placed on a resting surface ofa storage device, and it may be detected whether a last piece good hasbeen placed on the resting surface. As soon as this is detected, thepiece goods may be moved along a storage direction into a removal areaof the storage device, the storage direction corresponding to thedirection of movement of a storage device into the picking device.

When the piece goods have been placed in the removal area, a grippingapparatus of the operating unit may be moved into the removal area,allowing the gripping apparatus to access the piece goods. The piecegoods may be grasped with the gripping apparatus and moved from theremoval area onto a support table of the control unit over an end-faceedge of the support table.

The piece goods may be removed from the storage device and storedimmediately after they are moved into the picking device. However, thepiece goods may also first be temporarily stored on the removal devicein their respective removal areas. For example, a fairly large number ofpiece goods (e.g., multiple groups of piece goods that are identical ineach case) may be collected on a storage device before the piece goodsare moved from their respective removal area by the operator unit.

The number of piece goods situated in the support area may be determinedbased on piece goods data and size data of the piece goods that aredetected with at least one sensor system, in particular after it hasbeen established that a last piece good has been placed in the supportarea.

The piece goods data may be detected after the last piece good has beendeposited, and the piece goods data may include the position and/or thesize of the piece goods and the arrangement of the piece goods withrespect to one another. For example, whether four piece goods arepresent as a combination or situated next to one another or at adistance from one another. These data may be detected using a sensorsystem. For example, a light grid combination or a camera system havingmultiple sensors.

Based on the piece goods data and the size data of the piece goods whichare known to the control unit, the control unit may unambiguously detectthe number of deposited piece goods independently of the type ofarrangement of the piece goods with respect to one another.

Thus, it may no longer be necessary to transmit to the control unit theexact number of deposited piece goods prior to the start of storage. Thestorage of the piece goods may thus be accelerated and the likelihood oferrors may be reduced, since manual indication of the number of piecegoods to be stored may be dispensed with. Preferably, the number ofpiece goods is determined with an appropriate sensor system after thelast piece good is deposited.

In one or more embodiments, the piece goods data may be determined by asupport area sensor system associated with a support area before thepiece goods are moved along the storage direction into the removal area.Such a method procedure has the advantage that the exact number of piecegoods is certain at an early point in time in the storage process, andtherefore enough time remains to establish the optimal method procedure(e.g., the location of the removal area, which is not a fixedly definedarea, but which may be selected depending on the subsequent storagelocation). For example, a camera system or a light grid combinationassociated with a support area may be used as a support area sensorsystem for determining the piece goods data.

In one or more embodiments, the piece goods data may be determined by astorage sensor system associated with a storage device while the piecegoods are moving along the storage direction or after the piece goodshave moved into the removal area. Here, the piece goods data aredetected within the device where fewer interference signals are present.The two methods mentioned above for detecting the piece goods data maybe also be combined to increase the certainty in detecting the number(e.g., a discrepancy in the numbers detected by the two sensor systemsthen indicates an error).

In one or more embodiments, the piece goods data may be determined by aremoval area sensor system associated with a removal area while thepiece goods are moving onto the support table. Here, the number of piecegoods is determined only relatively late in the storage process.However, in this way it may be ensured that the number of piece goodsdetermined corresponds exactly to the number later stored. It isconceivable, for example, that during the movement of the piece goodsinto the removal area, a piece good shifts in such a way that it cannotbe cleanly grasped by the gripping apparatus and moved onto the supporttable. Thus, such a piece good may not be counted. Also, a sensor systemhaving a very simple design may be used. For example, a sensor whichmeasures the incident quantity of light may be sufficient.

The piece goods data of the moved piece goods or a corresponding signalfrom the sensor system may indicate, for example, at what point in timea piece good is moved over the end-face edge of the support table. Basedon the size data of the piece goods to be stored, the movement speed ofthe gripping apparatus or the particular instantaneous position of themotor, and the piece goods data or the corresponding signal, the controlunit may determine the number of piece goods moved onto the supporttable. Thus, manual input of the number of the piece goods is notnecessary.

The exact arrangement of the piece goods may vary. For example, thepiece goods may be placed directly next to one another or any arbitrarydistances between the piece goods may be present. The movement of thegripping apparatus into the removal area of the storage device may becarried out in such a way that it is ensured that all piece goods to bestored are grasped and moved onto the support table. In addition, duringthe movement of the piece goods from the removal area onto the supporttable, it is unimportant whether the exact arrangement of the piecegoods is maintained, or whether the piece goods are pulled togetherprior to the actual movement onto the support table (e.g., gaps whichmay be present between the piece goods are closed during or aftergrasping and prior to the movement onto the support table). This is thecase, for example, when the gripping apparatus includes gripper jawswhere one or both gripper jaws are moved toward one another by a pivotmotion in a front section, resulting in a V-shaped grip profile. Duringthe movement of the gripping apparatus or the gripper jaws from theremoval area in the direction of the support table, the piece goodfarthest from the end-face edge may initially be gripped or grasped andmoved in the direction of the support table until the first piece goodmeets the second piece good, which is likewise moved along in thedirection of the support table. This type of storage results in anuninterrupted sequencing of a plurality of piece goods.

In such a case, the sensor detects that only one object moves past,namely, a combination of, for example, four piece goods. In thisexample, having knowledge of the dimensions or the piece goods data ofthe piece goods, the movement speed, or the instantaneous motor positionof the gripping apparatus, as well as the signal or the storageinformation supplied by the sensor, the control unit may unambiguouslydetermine that the combination moved onto the support table comprisesfour piece goods.

To accurately calculate the number of piece goods moved, the size data(e.g., the dimensions of a single piece good) for the piece goods to bestored must be available to the control unit. If a large number ofidentical piece goods are to be stored, the size data for the piecegoods to be stored may be detected one time prior to the storage of thelarge number of piece goods, and detected size data may be used duringeach storage operation (e.g., the size data are not renewed prior toeach storage operation).

However, if new size data concerning the new piece goods to be storedare not provided when there is a change in the type of piece goods, thismay result in a failure to automatically determine the number of piecegoods to be stored.

The size data are customarily internally linked with identifyinginformation concerning piece goods. This identifying information isimportant for the storage and the subsequent retrieval, since thecontrol unit must unambiguously know which piece good is stored at whichstorage location, whether this involves chaotic storage on a shelf orunmixed storage in a storage chute. However, for strictly determiningthe number of piece goods, identifying information beyond the size datamay not be required.

The identifying information may be applied to the piece goods themselvesor to their outer packaging. However, the case may be that theidentifying information that is present does not include the size dataof the piece goods to be stored. For pharmaceuticals, for example, it isnot yet customary for the identifying information associated with thepackage to contain size data concerning the package.

To avoid the above-described case of miscalculation, in one or moreembodiments the control unit may be provided with identifyinginformation prior to the movement of the piece goods. A procedure may befollowed in which new identifying information is provided prior to eachnew storage process. However, this is not necessary when a large numberof identical piece goods are to be stored. Thus, this obligation toprovide new identifying information may be switched off manually orthrough control by the control unit.

As already noted above, the case may be that no size data are presentfor the piece goods to be stored (e.g., since new identifyinginformation may possibly not include size data, and the data have notyet been entered or learned). To avoid the necessity for manuallyentering the size data, in one or more embodiments it is provided thatprior to a new storage process, the control unit checks whether sizedata are present for the piece goods to be stored, and if this not thecase, a user is requested to place a single piece good for which thesize data are detected and the identifying information concerning thepiece good are stored. After the size data are detected, the additionalpiece goods to be stored may be retrieved and stored. This simplifiesthe storage of new piece goods since the detection of the size data isautomated, thus reducing the susceptibility to error.

Detection that a last piece good has been placed on a resting surfacemay take place, for example, by a user activating an input control(e.g., a foot pedal or a pushbutton). To further speed up and simplifythe storage operation, in one or more embodiments it is provided thatplacing the last piece good of the plurality of piece goods to be storedinitiates the storage. For this purpose, the depositing of a piece goodin a detection range of a support detection sensor associated with aresting surface is detected. Thus, a further operation is no longernecessary after the last piece good is placed because depositing thelast piece good in the detection range of the support detection sensorinitiates the movement of the piece goods to the removal area.

If the picking device includes a support area sensor system, in one ormore embodiments it is provided that the arrangement of a last piecegood in a support area is determined by the support area sensor system.The sensor system is configured such that, on the one hand, thedeposited piece goods are detectable, and on the other hand, a piecegood is situated in a certain detection range. In that case, a sensorsystem for detecting the position of the piece goods relative to oneanother, and the position of at least one piece good in the detectionrange, is utilized, thus avoiding use of a second sensor system.

As previously indicated, the gripping apparatus is moved far enough intothe removal area that movement of all piece goods from the removal areaonto the support table is ensured. Here, it may not be just thedeposition per se, but rather the exact deposition location of the lastpiece good that is determined and the movement of the gripping apparatusinto the removal area may be controlled based on the depositionlocation. The deposition location may be determined by a special sensorsystem or a sensor system that is already present. With knowledge of theexact deposition location of the last piece good, it is thus possible tocontrol the precise penetration depth of the gripping apparatus into theremoval area. Accordingly, it may not be necessary to always move thegripping apparatus completely into the removal area, thus speeding upthe movement of the piece goods from the removal area onto the supporttable.

A picking device according to the present disclosure may include atleast one rack row having at least one rack with a plurality of shelvessituated one above the other. The piece goods to be stored may bechaotically stored on these shelves, or may be stored in storage chutesformed on the shelves. The picking device may also include at least onestorage device having a resting surface for receiving piece goods to bestored, these piece goods being moved into the picking device by meansof the storage device after placement on the resting surface. Thepicking device may further include an operator unit, coupled to acontrol unit, with a support table for receiving one or more piecegoods, the support table having an end-face edge associated with astorage device. The operator unit may also include a gripping apparatusby which piece goods may be grasped in the removal area of a storagedevice and moved from the storage device, over the end-face edge, ontothe support table. The picking device may also include at least onesensor system, coupled to the control unit, with which piece goods dataare detectable and transmittable to the control unit, the control unitbeing designed in such a way that the number of piece goods situated inthe support area is determinable based on the piece goods data and thesize data of the piece goods.

Due to using the above-mentioned sensor system with which piece goodsdata are detectable, the control unit, based on the signal or the piecegoods data supplied by the sensor system, and optionally usingadditional data, is able to automatically determine the number of piecegoods moved, as discussed above.

In one or more embodiments of the picking device, a sensor system may beconfigured as a support area sensor system, with which piece goods dataof the piece goods situated in the support area are detectable.

In one or more embodiments of the picking device, a sensor system may beconfigured as a storage sensor system, with which piece goods data aredetectable while the piece goods are moving along the storage directionor after the piece goods have moved into the removal area.

In one or more embodiments of the picking device, a sensor system may beconfigured as a removal area sensor system associated with a removalarea, with which piece goods data are detectable while the piece goodsare moving onto the support table.

A release device which, when activated, initiates storage of the piecegoods may be coupled to the control unit. For example, in this storage,the piece goods are moved from the support area into the removal area bya storage device. The release device may be a foot pedal or apushbutton, for example, which initiates the storage when activated.However, in one or more embodiments it is provided that the releasedevice is a support detection sensor, associated with a support area ofa storage device, which detects when a piece good or portion of a piecegood is deposited in the detection range. Thus, after the last piecegood is deposited, no further operation needs to be completed in orderto initiate the storage of the deposited piece goods. The depositing ofthe last piece good in the detection range initiates the storage so thatthe storage itself may be carried out more quickly.

If the picking device includes a support area sensor system, in one ormore embodiments it is provided that the release device is provided bythe support area sensor system. For example, the functionality of therelease device may be achieved by the support area sensor system, andthus the number of components may be reduced and the costs for thedevice may be lowered.

The sensor system for detecting the movement of piece goods over theend-face edge of the support table may be situated on any arbitrarycomponent in the region of the removal area, as long as it is ensuredthat the movement of a piece good over the end-face edge can be detectedwith the sensor system. However, in one or more embodiments it isprovided that the sensor system is situated at the end-face edge of thesupport table itself. This ensures that the sensor system is alwaysideally positioned with regard to the piece goods to be stored, so thatit may be ensured that the sensor system is able to detect the movementof the piece goods over the end-face edge, regardless of the nature ofthe piece goods.

FIG. 1 shows a perspective illustration of a first embodiment of thepicking device 1 according to the present disclosure. The picking device1 includes a framework structure 2 on which a plurality of claddingelements 3 are mounted. For the sake of clarity, a number of thecladding elements 3 as well as some elements of the framework structure2 are omitted. The picking device 1 includes a first rack row 10 havingmultiple racks 11, each having a plurality of shelves 12 situated oneabove the other and extending in a horizontal plane (only three shelves12 are illustrated in FIG. 1, though additional shelves are situatedabove, beneath, and next to those illustrated). Each individual rack 11of the first rack row 10 is formed by shelf walls 13 and a plurality ofthe above-mentioned shelves 12. In the embodiment shown, all end faces(loading edges) of the shelves are situated in a vertical plane, whichsimplifies storage and retrieval of piece goods or pharmaceuticalpackages to and from the shelves 12. The shelves 12 shown are configuredfor chaotic storage of pharmaceutical packages.

In one or more embodiments of the picking device 1, a second rack row10′ is provided opposite from the first rack row 10, which for reasonsof clarity is merely indicated. Accordingly, only individual elements ofthe support frame for this rack row and a shelf 12′ having a storagechute 14 for unmixed storage are illustrated in FIG. 1.

In one or more embodiments, the picking device 1 includes two storagedevices 20, 30 that are situated one above the other and integrated intothe first rack row 10, so that shelves 12 are provided above and beneaththe two storage devices 20, 30. The storage devices 20, 30 protrude fromthe front of the picking device 1. Protruding portions of the storagedevices 20, 30 include a support area 21, 31, respectively, on whichpharmaceutical packages may be deposited for storage. In FIG. 1, threeidentical pharmaceutical packages 6 are situated in the support area 21of the top storage device 20.

An operator unit 50, which is horizontally and vertically movable on aguide, is disposed between the illustrated first rack row 10 and themerely indicated second rack row 10′, and is described in greater detailwith reference to FIGS. 3 and 4. The operator unit 50 is movable along ahorizontal guide 55, merely indicated, and a vertical guide 56 in achannel between the two rack rows 10, 10′.

Also situated in the picking device 1 is a retrieval device 40, which inthe embodiment shown is designed as a conveyor belt and is indicatedbetween the second rack row 10′ and the right outer wall of the pickingdevice 1, as shown in FIG. 1. Via the retrieval device 40,pharmaceutical packages 6 which are moved onto the retrieval device 40are moved to a removal area 41 of the retrieval device 40. Thepharmaceutical packages 6 may be configured to reach the retrievaldevice 40 by being moved onto the retrieval device 40 with the operatorunit 50, for example. Optionally, an auxiliary retrieval path (notshown) may be connected in between the retrieval device 40 and theoperator unit 50. At the inclined storage chutes 14, the pharmaceuticalpackages 6 may be easily moved onto the retrieval device 40 byactivating a release device (not shown) situated at one end of a storagechute 14. In such a case, the pharmaceutical packages 6 may fall bygravity onto the retrieval device 40.

As further shown in FIG. 1, a control unit 70 may be coupled to theoperator unit 50, sensors 24, 80, 81 a, 81 b and sensor systems 200,250, 260, 300 (see FIGS. 2-4), the storage devices 20, 30 and theretrieval device 40. The control unit 70 may be situated in the frontarea of the picking device 1. A door opening 4 may be disposed in themiddle of the front area of the picking device 1, through which thepicking device 1 may be entered for maintenance purposes and in theevent of malfunctions.

FIG. 2 shows a detailed view of the front area of one or moreembodiments of the picking device 1. In particular, the support area ofthe storage device 20, 30 is apparent. Two identical pharmaceuticalpackages 6 are situated in the support area 31 of the bottom storagedevice 30.

A support area sensor system 200, 300 is situated in each case above thesupport area 21, 31 of a storage device 20, 30. For example, the sensorsystem 200, 300 may be a light grid combination or a camera/cameracombination with which piece goods data (e.g., data concerning theposition of piece goods on the particular support area) may bedetermined. Depending on the exact configuration of the support areasensor system 200, 300, the arrangement of a pharmaceutical package 6 ina detection range 23, 33 may be detected with the support area sensorsystem 200, 300, and optionally with an accurate determination of thelocation of the package arrangement (based on the width of the storagedevice 20).

In the “left” area of the support area sensor system 200, a supportdetection sensor 24 may be provided with which the above-mentionedfunctions of support area sensor systems 200, 300 may be carried out.For example, in the event that no support area sensor system 200, 300 orno other support area sensor system having the above-mentioned functionsis installed.

As soon as a piece good is deposited in a detection range 23, 33 or atleast partially protrudes into the detection range 23, 33, anappropriate signal is transmitted to the control unit 70. The extent towhich a pharmaceutical package 6 must protrude into a detection range23, 33 in order to trigger the above-mentioned signal may be set at thecontrol unit 70, the support detection sensor 24, or the sensor system200, 300.

Also indicated in FIG. 2 is an input and/or output device 5 above thetop storage device 20, with which information concerning thepharmaceutical packages 6 to be stored may be displayed and/or input.

In FIG. 3, the majority of the support frame 2 is omitted for clarity.The storage device 20, which extends from an outer region having thesupport area 21 to far into the picking device 1, is apparent on theleft side. Four identical pharmaceutical packages 6 are shown situatedin a removal area 25 of the storage device 20. In FIG. 3, it is alsoshown that the storage device 20 is integrated into the first rack row10, since in the “top” area, shelves 12 and shelf walls 13 are indicatedabove the storage device 20. The retrieval device 40 and the removalarea 41 are shown on the right side. Toward the interior of the pickingdevice 1, the retrieval device 40 is adjoined by the second rack row 10′(merely indicated). The horizontally and vertically movable operatorunit 50 is situated between the first rack row 10 and the second rackrow 10′. The horizontal guide 55 may extend over the entire length ofthe picking device 1 to be able to reach all shelves 12 of the devicewith the operator unit. The operator unit 50 may include a support table51 having an end-face edge 52, over which pharmaceutical packages 6 arepulled with a gripping apparatus 60 onto the support table 51 (see FIG.4).

Also shown in FIG. 3 is a storage sensor system 250, disposed betweenthe removal area 25 and the support area 21, and with which the piecegoods data of piece goods moved in the storage direction toward theremoval area 25 are detected. The exact configuration of the sensorsystem 250 depends on the particular specific requirements andstructural circumstances. Thus, here as well, the sensor system 250 mayuse a camera system or a light grid combination. However, the sensorsystem 250 is not limited to the two designs mentioned above, and allsensor systems which are able to determine the required piece goods data(e.g., the exact arrangement of the piece goods) may be used.

As shown in FIG. 4, the gripping apparatus 60 of the control unit 50 mayinclude two gripper jaws 61 a, 61 b, which via two pivot joints 62 a, 62b may be pivotable. For example, the tips 63 a, 63 b of the gripper jaws61 a, 61 b may be moved toward and away from one another without thebase of the gripper jaws 61 a, 61 b being substantially moved. Theentire gripping apparatus 60 may be moved above the support table 51 andinto the removal area 25 of the retrieval device 40, grasping thepharmaceutical packages 6 in the removal area 25 and pulling thepharmaceutical packages 6 over the end-face edge 52 of the support table51. The gripping apparatus 60 may also be configured to pull thepharmaceutical packages 6 over a sensor 80 situated at the removal areaand/or over two sensors 81 a, 81 b at the end-face edge 52 of thesupport table 51. Thus, when the pharmaceutical packages 6 move over thesensors 80, 81 a, 81 b, the sensors 80, 81 a, 81 b generate a signal andrelay it to the control unit 70. As shown in FIG. 4, one sensor 80 maybe situated at the removal area 25 (e.g., at the storage device 20) andtwo sensors 81 a, 81 b may be situated at the end-face edge 52 of thesupport table 51. This arrangement represents one possible configurationof sensors. For example, only one sensor may be disposed at the removalarea 25 or at the end-face edge 52 of the support table 51. The exactnumber and configuration of the sensors is not critical, but it isimportant that the movement of the pharmaceutical packages 6 from theremoval area 25 onto the support table 51 be precisely detected by oneor more sensors.

FIGS. 5a through 5e show various stages in the storage of a plurality ofidentical piece goods or pharmaceutical packages 6. For simplicity, onlythe components that are essential for the individual method steps areschematically illustrated in the above-mentioned figures.

FIG. 5a shows a storage device 20 having a support area 21 and adetection range 23 of a support detection sensor (not shown). Threeidentical piece goods or pharmaceutical packages 6 are situated in thesupport area 21 at a distance from one another, the “top” pharmaceuticalpackage protruding into the detection range 23.

The protrusion of the top pharmaceutical package into the detectionrange 23 is detected by the support detection sensor (not shown)associated with the detection range 23, and is transmitted to thecontrol unit. The piece goods or pharmaceutical packages 6 are thenmoved via the storage device 20 into a removal area 25, as shown in FIG.5 b.

The removal area 25 is a section within the picking device 1 which thegripping apparatus 60 accesses for moving the pharmaceutical packages 6from a storage device 20 onto the support table 51 of the control unit70, in that the gripping apparatus 60 is moved into this removal area25. The removal area 25 is not a “stationary” area within the pickingdevice 1, and instead may vary depending on the position of the controlunit 70 or the deposition location of the piece goods to be stored, forexample.

As previously indicated, the gripping apparatus 60 may have two grippingor clamping jaws 61 a, 61 b which may be pivotable, for example. Asanother example, the two gripper jaws 61 a, 61 b may be configured to bemovable in parallel toward one another, and for the pharmaceuticalpackages 6 to be clamped or gripped by moving one or two gripper jaws 61a, 61 b.

In FIG. 5c , the two above-mentioned variants, namely, the pivotablegripper jaws 61 a, 61 b and the gripper jaws 61 a, 61 b which aremovable in parallel, are both shown. In each case, the illustratedgripper jaws 61 a, 61 b have not yet completely closed (e.g., thepharmaceutical package(s) 6 has/have not yet been grasped). Regardlessof the type of gripper jaws 61 a, 61 b used, a clearance 7 is presentbetween the pharmaceutical packages 6 (situated as in this example).However, the pharmaceutical packages 6 may be situated on the supportarea 21, without a clearance, between the gripper jaws 61 a, 61 b as acombination of multiple pharmaceutical packages 6. A sensor 80configured to detect a movement of the piece goods onto the supporttable 51 may be associated with the removal area 25. When thepharmaceutical packages move over the sensor 80, the sensor 80 maygenerate a signal (or a change in signal) that may be relayed to thecontrol unit 70. Based on this signal or the position information of thepharmaceutical packages 6 corresponding to this signal, the control unit70 may determine the number of pharmaceutical packages 6 moved, usingadditional data (see FIGS. 7a, 7b ).

Starting from the illustration in FIG. 5c , the gripper jaws 61 a, 61 bof the gripping apparatus 60 may be closed until the “top”pharmaceutical package 6 in the left illustration, and all of thepharmaceutical packages 6 in the right illustration, is/are clamped orgripped. If, as indicated in FIG. 5d , the pharmaceutical packages 6 arenow moved in the direction of the support table 51, via the pivotablegripper jaws 61 a, 61 b (e.g., left portion of FIG. 5d ), initially onlythe “top” pharmaceutical package 6 may be moved such that the clearance7 between the “top” and the “middle” pharmaceutical package may beeliminated. The combination of the “top” two pharmaceutical packages maythen be moved to the “bottom” pharmaceutical package upon furthermovement of the gripper jaws 61 a, 61 b toward the support table 51,resulting in a combination of three pharmaceutical packages 6 with nospace in between.

The situation is different for the pharmaceutical packages 6 which havebeen grasped by the gripping apparatus having the gripper jaws 61 a, 61b which are movable in parallel (e.g., right portion of FIG. 5d ). Dueto the parallel movement of one or both gripper jaws 61 a, 61 b, allpharmaceutical packages 6, which have the same dimensions because theyare identical, are grasped at the same time, so that no shifting of thepharmaceutical packages 6 toward one another takes place while thegripper jaws 61 a, 61 b move toward the support table 51 (e.g., theclearances 7 between the pharmaceutical packages 6 are maintained).

The result of the gripping movement is shown in FIG. 5e . In the leftillustration with the pivotable gripper jaws 61 a, 61 b, the threepharmaceutical packages 6 are moved as a combination, with no space inbetween, onto the support table 51. In the right illustration with thegripper jaws 61 a, 61 b that are movable in parallel, the pharmaceuticalpackages 6 are moved onto the support table 51 corresponding to theiroriginal resting position (e.g., a clearance 7 is still present betweenthe pharmaceutical packages 6).

FIG. 6 shows an example of a sensor system which may be used as asupport area sensor system (e.g., sensor system 200, 300) or a storagesensor system (e.g., sensor system 250). Here, sensor system 200 isillustrated, for example. The sensor system 200 may be a light grid or acombination of two light grids 210, 230 and 220, 240. For example, ahorizontal light grid 210, 230 may have a plurality of light sources 211and receivers 231, and a vertical light grid 220, 240 likewise may havea plurality of light sources 221 and receivers 241. Light beams 212, 222may be emitted from the light sources 211, 221 and received at thereceivers 231, 241. The piece goods data may be determined based onwhich light beams 212, 222 reach a receiver 231, 241.

As shown in FIG. 6, the light grids 210, 230 and 220, 240 appear to besituated at the same height relative to the direction of movement of thepiece goods, but in practical terms this is not the case. The lightgrids 210, 230 and 220, 240 are spaced at least far enough apart thatthe light beams 212, 222 of the grids 210, 230 and 220, 240 do not havean interfering effect.

As another example, a sensor system may be achieved by a camera system(not shown), wherein the data (images) detected by the camera systemundergo image processing which provides the necessary piece goods data.

FIGS. 7a and 7b depict the signal supplied by the sensor 80 as afunction of the movement of the pharmaceutical packages 6 onto thesupport table 51. Here, the X axis shows the time axis t, beginning witht0, and the Y axis shows the signal intensity I. For example, the sensor80 may measure the intensity of the light striking it. Differentsensors, for example contact sensors, may be used instead.

FIG. 7a depicts the movement of the combination of three pharmaceuticalpackages 6 over the sensor 80. It is apparent that the intensity of thelight detected by the sensor 80 decreases at a point in time t1 and onceagain increases at a point in time t2. The control unit 70 is able toautomatically determine the number of pharmaceutical packages 6 moved,based on the time period Δt12 (t2−t1), the number of changes in signal(e.g., position information of the pharmaceutical packages 6), themovement speed of the gripper jaws 61 a, 61 b, and the identifyinginformation concerning the pharmaceutical packages 6.

In FIG. 7a , a change in intensity has been determined only for a timeinterval t1/t2, and based on the additional information it may bedetermined that three pharmaceutical packages 6 have been moved onto thesupport table 51. The situation is different when the pharmaceuticalpackages 6 have not pushed or pulled together to form a combination,but, rather, are moved over the sensor with clearances 7 between thepharmaceutical packages 6, as depicted in FIG. 7b . Here, a decrease inthe light intensity is detected at three points in time t2, t4, t6, andan increase in the light intensity is detected at three points in timet1, t3, t5, wherein the period of the decreased light intensitycorresponds to a movement of a pharmaceutical package over a sensor. Thenumber of pharmaceutical packages 6 may be unambiguously determinedbased on this information Δt12 (t2−t1), Δt34 (t4−t3), and Δt56 (t6−t5),the movement speed of the gripper jaws 61 a, 61 b, and the identifyinginformation concerning the pharmaceutical packages 6.

The present disclosure is provided to enable any person skilled in theart to practice the various aspects described herein. The disclosureprovides various examples of the subject technology, and the subjecttechnology is not limited to these examples. Various modifications tothese aspects will be readily apparent to those skilled in the art, andthe generic principles defined herein may be applied to other aspects.

A reference to an element in the singular is not intended to mean “oneand only one” unless specifically so stated, but rather “one or more.”Unless specifically stated otherwise, the term “some” refers to one ormore. Pronouns in the masculine (e.g., his) include the feminine andneuter gender (e.g., her and its) and vice versa. Headings andsubheadings, if any, are used for convenience only and do not limit theinvention.

The word “exemplary” or the term “for example” is used herein to mean“serving as an example or illustration.” Any aspect or design describedherein as “exemplary” or “for example” is not necessarily to beconstrued as preferred or advantageous over other aspects or designs. Inone aspect, various alternative configurations and operations describedherein may be considered to be at least equivalent.

As used herein, the phrase “at least one of” preceding a series ofitems, with the term “or” to separate any of the items, modifies thelist as a whole, rather than each item of the list. The phrase “at leastone of” does not require selection of at least one item; rather, thephrase allows a meaning that includes at least one of any one of theitems, and/or at least one of any combination of the items, and/or atleast one of each of the items. By way of example, the phrase “at leastone of A, B, or C” may refer to: only A, only B, or only C; or anycombination of A, B, and C.

A phrase such as an “aspect” does not imply that such aspect isessential to the subject technology or that such aspect applies to allconfigurations of the subject technology. A disclosure relating to anaspect may apply to all configurations, or one or more configurations.An aspect may provide one or more examples. A phrase such as an aspectmay refer to one or more aspects and vice versa. A phrase such as an“embodiment” does not imply that such embodiment is essential to thesubject technology or that such embodiment applies to all configurationsof the subject technology. A disclosure relating to an embodiment mayapply to all embodiments, or one or more embodiments. An embodiment mayprovide one or more examples. A phrase such an embodiment may refer toone or more embodiments and vice versa. A phrase such as a“configuration” does not imply that such configuration is essential tothe subject technology or that such configuration applies to allconfigurations of the subject technology. A disclosure relating to aconfiguration may apply to all configurations, or one or moreconfigurations. A configuration may provide one or more examples. Aphrase such a configuration may refer to one or more configurations andvice versa.

In one aspect, unless otherwise stated, all measurements, values,ratings, positions, magnitudes, sizes, and other specifications that areset forth in this specification, including in the claims that follow,are approximate, not exact. In one aspect, they are intended to have areasonable range that is consistent with the functions to which theyrelate and with what is customary in the art to which they pertain.

It is understood that the specific order or hierarchy of steps,operations or processes disclosed is an illustration of exemplaryapproaches. Based upon design preferences, it is understood that thespecific order or hierarchy of steps, operations or processes may berearranged. Some of the steps, operations or processes may be performedsimultaneously. Some or all of the steps, operations, or processes maybe performed automatically, without the intervention of a user. Theaccompanying method claims, if any, present elements of the varioussteps, operations or processes in a sample order, and are not meant tobe limited to the specific order or hierarchy presented.

All structural and functional equivalents to the elements of the variousaspects described throughout this disclosure that are known or latercome to be known to those of ordinary skill in the art are expresslyincorporated herein by reference and are intended to be encompassed bythe claims. Moreover, nothing disclosed herein is intended to bededicated to the public regardless of whether such disclosure isexplicitly recited in the claims. No claim element is to be construedunder the provisions of 35 U.S.C. § 112 (f) unless the element isexpressly recited using the phrase “means for” or, in the case of amethod claim, the element is recited using the phrase “step for.”Furthermore, to the extent that the term “include,” “have,” or the likeis used, such term is intended to be inclusive in a manner similar tothe term “comprise” as “comprise” is interpreted when employed as atransitional word in a claim.

The Title, Background, Summary, Brief Description of the Drawings andAbstract of the disclosure are hereby incorporated into the disclosureand are provided as illustrative examples of the disclosure, not asrestrictive descriptions. It is submitted with the understanding thatthey will not be used to limit the scope or meaning of the claims. Inaddition, in the Detailed Description, it can be seen that thedescription provides illustrative examples and the various features aregrouped together in various embodiments for the purpose of streamliningthe disclosure. This method of disclosure is not to be interpreted asreflecting an intention that the claimed subject matter requires morefeatures than are expressly recited in each claim. Rather, as thefollowing claims reflect, inventive subject matter lies in less than allfeatures of a single disclosed configuration or operation. The followingclaims are hereby incorporated into the Detailed Description, with eachclaim standing on its own as a separately claimed subject matter.

The claims are not intended to be limited to the aspects describedherein, but are to be accorded the full scope consistent with thelanguage claims and to encompass all legal equivalents. Notwithstanding,none of the claims are intended to embrace subject matter that fails tosatisfy the requirement of 35 U.S.C. § 101, 102, or 103, nor should theybe interpreted in such a way.

The invention claimed is:
 1. A method for storing piece goods in apicking device, the method comprising: moving a plurality of piece goodsalong a storage direction from a support area of a storage device into aremoval area of the storage device; moving a gripping apparatus of anoperating unit into the removal area; grasping the piece goods with thegripping apparatus; moving the piece goods from the removal area onto asupport table over an end-face edge of the support table; anddetermining the number of piece goods moved onto the support table basedon piece goods data and size data of the plurality of piece goods thatare detected with at least one sensor system, and further based ongripping apparatus data of the gripping apparatus.
 2. The method ofclaim 1, wherein the gripping apparatus data comprises a movement speedof the gripping apparatus.
 3. The method of claim 1, wherein thegripping apparatus data comprises a particular instantaneous position ofa motor of the gripping apparatus.
 4. The method of claim 1, wherein thepiece goods data are determined by a support area sensor systemassociated with a support area before the piece goods are moved alongthe storage direction into the removal area.
 5. The method of claim 1,wherein the piece goods data are determined by a storage sensor systemassociated with a storage device while the piece goods are moving alongthe storage direction or after the piece goods have moved into theremoval area.
 6. The method of claim 1, wherein the piece goods data aredetermined by a removal area sensor system associated with a removalarea while the piece goods are moving onto the support table.
 7. Themethod of claim 1, further comprising: determining a placement locationof a last piece good in the removal area, wherein the movement of thegripping apparatus into the removal area is controlled based on theplacement location.
 8. The method of claim 1, further comprising:detecting an intensity of light by the sensor system; and providing,from the sensor system, a signal based on the detected intensity oflight over a period of time.
 9. The method of claim 8, wherein if eachof the plurality of piece goods is touching another one of theplurality, the number of piece goods moved onto the support table isdetermined based on the time period, a number of changes in the signalintensity, movement speed of the gripping apparatus and identificationinformation of the piece goods.
 10. The method of claim 8, wherein ifthe plurality of piece goods are not touching one another, the number ofpiece goods moved onto the support table is determined based on movementspeed of the gripping apparatus, identification information of the piecegoods and a plurality of time periods, each time period defined by atime point of decreased light intensity less a time point of increasedlight intensity.
 11. A picking device for piece goods, comprising: atleast one rack row having at least one rack with a plurality of shelvesdisposed vertically one above the other; at least one storage device forreceiving piece goods to be stored; a control unit; an operator unitcoupled to the control unit, the operator unit comprising: a supporttable configured to receive one or more piece goods, the support tablehaving an end-face edge; and at least one gripping apparatus configuredto grasp piece goods in a removal area of the at least one storagedevice and move the grasped piece goods from the storage device, overthe end-face edge, onto the support table; and at least one sensorsystem coupled to the control unit, the sensor system configured todetect piece goods data and transmit the detected piece goods data tothe control unit, wherein the control unit is configured to determinethe number of piece goods moved onto the support table based on sizedata of the piece goods to be stored, a movement speed of the grippingapparatus or the particular instantaneous position of a motor of thegripping apparatus, and the piece goods data or a corresponding signal.12. The picking device of claim 11, wherein the sensor system comprisesa support area sensor system configured to detect piece goods data ofthe piece goods situated in a support area of the storage device. 13.The picking device of claim 11, wherein the sensor system comprises astorage sensor system configured to detect piece goods data while thepiece goods are moving along the storage direction or after the piecegoods have moved into the removal area.
 14. The picking device of claim11, wherein the sensor system comprises a removal area sensor systemassociated with a removal area, the removal area sensor systemconfigured to determine piece goods data while the piece goods aremoving onto the support table.
 15. The picking device of claim 11,wherein the sensor system comprises a plurality of light grids whereinat least two of the plurality of light grids are disposedperpendicularly to each other.
 16. The picking device of claim 11,wherein the sensor system comprises a camera system.
 17. A pickingdevice for piece goods, comprising: a rack row having a plurality ofshelves; a storage device having a support area for receiving piecegoods to be stored; a control unit; an operator unit comprising: asupport table having an end-face edge; and a gripping apparatus; and atleast one sensor system, wherein the picking device is configured to:move a plurality of piece goods along a storage direction from thesupport area of the storage device into a removal area of the storagedevice; move a gripping apparatus of an operating unit into the removalarea; grasp the piece goods with the gripping apparatus; move the piecegoods from the removal area onto a support table over an end-face edgeof the support table; and determine the number of piece goods moved ontothe support table based on piece goods data and size data of theplurality of piece goods that are detected with at least one sensorsystem, and further based on gripping apparatus data of the grippingapparatus.
 18. The picking device of claim 17, further comprising asupport area sensor system associated with the support area, wherein thepiece goods data are determined by the support area sensor system beforethe piece goods are moved along the storage direction into the removalarea.
 19. The picking device of claim 17, further comprising a storagesensor system associated with the storage device, wherein the piecegoods data are determined by the storage sensor system while the piecegoods are moving along the storage direction or after the piece goodshave moved into the removal area.
 20. The picking device of claim 17,further comprising a removal area sensor system associated with theremoval area, wherein the piece goods data are determined by the removalarea sensor system while the piece goods are moving onto the supporttable.